/**
 * @file ebex_model.h
 *
 * @date Sep 23, 2011
 * @author seth
 *
 * @brief This file is part of EBEX State Estimator, created for the EBEX project
 *
 * This software is copyright (C) 2011 Columbia University
 *
 * EBEX State Estimator is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 *
 * EBEX State Estimator is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with EBEX State Estimator; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */

#ifndef EBEX_MODEL_H_
#define EBEX_MODEL_H_
#include <gyros.h>
#include <starcamera.h>
#include <data_file.h>
#include <ebex_gyro_sc.h>
#include <ebex_filter_cfg.h>
#include <ebex_math.h>

typedef struct ebex_model_s
{
	size_t				num_gyroboxes;
	size_t				num_sc;

	gyrobox_t			*gyrobox;
	sc_param_t			*sc;

	ebex_gyro_sc_t		*data;

	ebex_quat_t			*err_quats;
	double				*err_weights;

	void				*private_data;

	ebex_filter_cfg_t	*parameters;

}ebex_model_t;

ebex_model_t *ebex_model_new(size_t m_gyroboxes, size_t m_starcameras, size_t m_segments);


#endif /* EBEX_MODEL_H_ */
